#ifndef _Kalman_h_
#define _Kalman_h_
 
 
class Kalman {
public:
    Kalman();
 
 
    float getAngle(float newAngle, float newRate, float dt);
 
    void setAngle(float angle);
    float getRate();
 
 
    void setQangle(float Q_angle);
    void setQbias(float Q_bias);
    void setRmeasure(float R_measure);
 
 
    float getQangle();
    float getQbias();
    float getRmeasure();
 
 
private:
    float Q_angle;
    float Q_bias;
    float R_measure;
 
 
    float angle;
    float bias;
    float rate;
 
 
    float P[2][2];
};
 
#endif
